OpenRaiser/Intern-Atlas huggingface dataset:
A*SLAM: A Dual Fisheye Stereo Edge SLAM
Venue: arXiv cs.RO 2019
Year: 2019

This paper proposes an A*SLAM system that features combining two sets of fisheye stereo cameras and taking the image edge as the SLAM features. The dual fisheye stereo camera sets cover the full environmental view of the SLAM system. From each fisheye stereo image pair, a panorama depth image can be directly extracted for initializing the SLAM feature. The edge feature is an illumination invariant feature. The paper presents a method of the edge-based simultaneous localization and mapping process using both the normal and inverted images interchangeably.
BP-Transformer: Modelling Long-Range Context via Binary Partitioning
Venue: arXiv cs.CL 2019
Year: 2019

The Transformer model is widely successful on many natural language processing tasks. However, the quadratic complexity of self-attention limit its application on long text. In this paper, adopting a fine-to-coarse attention mechanism on multi-scale spans via binary partitioning (BP), we propose BP-Transformer (BPT for short). BPT yields $O(k\cdot n\log (n/k))$ connections where $k$ is a hyperparameter to control the density of attention. BPT has a good balance between computation complexity and model capacity. A series of experiments on text classification, machine translation and language modeling shows BPT has a superior performance for long text than previous self-attention models. Our code, hyperparameters and CUDA kernels for sparse attention are available in PyTorch.
Pano: Optimizing 360° Video Streaming with a Better Understanding of Quality Perception
Venue: arXiv cs.MM 2019
Year: 2019

Streaming 360° videos requires more bandwidth than non-360° videos. This is because current solutions assume that users perceive the quality of 360° videos in the same way they perceive the quality of non-360° videos. This means the bandwidth demand must be proportional to the size of the user's field of view. However, we found several qualitydetermining factors unique to 360°videos, which can help reduce the bandwidth demand. They include the moving speed of a user's viewpoint (center of the user's field of view), the recent change of video luminance, and the difference in depth-of-fields of visual objects around the viewpoint. This paper presents Pano, a 360° video streaming system that leverages the 360° video-specific factors. We make three contributions. (1) We build a new quality model for 360° videos that captures the impact of the 360° video-specific factors. (2) Pano proposes a variable-sized tiling scheme in order to strike a balance between the perceived quality and video encoding efficiency. (3) Pano proposes a new qualityadaptation logic that maximizes 360° video user-perceived quality and is readily deployable. Our evaluation (based on user study and trace analysis) shows that compared with state-of-the-art techniques, Pano can save 41-46% bandwidth without any drop in the perceived quality, or it can raise the perceived quality (user rating) by 25%-142% without using more bandwidth.
Multi-Agent Connected Autonomous Driving using Deep Reinforcement Learning
Venue: arXiv cs.LG 2019
Year: 2019

The capability to learn and adapt to changes in the driving environment is crucial for developing autonomous driving systems that are scalable beyond geo-fenced operational design domains. Deep Reinforcement Learning (RL) provides a promising and scalable framework for developing adaptive learning based solutions. Deep RL methods usually model the problem as a (Partially Observable) Markov Decision Process in which an agent acts in a stationary environment to learn an optimal behavior policy. However, driving involves complex interaction between multiple, intelligent (artificial or human) agents in a highly non-stationary environment. In this paper, we propose the use of Partially Observable Markov Games(POSG) for formulating the connected autonomous driving problems with realistic assumptions. We provide a taxonomy of multi-agent learning environments based on the nature of tasks, nature of agents and the nature of the environment to help in categorizing various autonomous driving problems that can be addressed under the proposed formulation. As our main contributions, we provide MACAD-Gym, a Multi-Agent Connected, Autonomous Driving agent learning platform for furthering research in this direction. Our MACAD-Gym platform provides an extensible set of Connected Autonomous Driving (CAD) simulation environments that enable the research and development of Deep RL- based integrated sensing, perception, planning and control algorithms for CAD systems with unlimited operational design domain under realistic, multi-agent settings. We also share the MACAD-Agents that were trained successfully using the MACAD-Gym platform to learn control policies for multiple vehicle agents in a partially observable, stop-sign controlled, 3-way urban intersection environment with raw (camera) sensor observations.
Practical Federated Gradient Boosting Decision Trees
Venue: arXiv cs.LG 2019
Year: 2019

Gradient Boosting Decision Trees (GBDTs) have become very successful in recent years, with many awards in machine learning and data mining competitions. There have been several recent studies on how to train GBDTs in the federated learning setting. In this paper, we focus on horizontal federated learning, where data samples with the same features are distributed among multiple parties. However, existing studies are not efficient or effective enough for practical use. They suffer either from the inefficiency due to the usage of costly data transformations such as secret sharing and homomorphic encryption, or from the low model accuracy due to differential privacy designs. In this paper, we study a practical federated environment with relaxed privacy constraints. In this environment, a dishonest party might obtain some information about the other parties' data, but it is still impossible for the dishonest party to derive the actual raw data of other parties. Specifically, each party boosts a number of trees by exploiting similarity information based on locality-sensitive hashing. We prove that our framework is secure without exposing the original record to other parties, while the computation overhead in the training process is kept low. Our experimental studies show that, compared with normal training with the local data of each party, our approach can significantly improve the predictive accuracy, and achieve comparable accuracy to the original GBDT with the data from all parties.
Physics-guided Design and Learning of Neural Networks for Predicting Drag Force on Particle Suspensions in Moving Fluids
Venue: arXiv cs.LG 2019
Year: 2019

Physics-based simulations are often used to model and understand complex physical systems and processes in domains like fluid dynamics. Such simulations, although used frequently, have many limitations which could arise either due to the inability to accurately model a physical process owing to incomplete knowledge about certain facets of the process or due to the underlying process being too complex to accurately encode into a simulation model. In such situations, it is often useful to rely on machine learning methods to fill in the gap by learning a model of the complex physical process directly from simulation data. However, as data generation through simulations is costly, we need to develop models, being cognizant of data paucity issues. In such scenarios it is often helpful if the rich physical knowledge of the application domain is incorporated in the architectural design of machine learning models. Further, we can also use information from physics-based simulations to guide the learning process using aggregate supervision to favorably constrain the learning process. In this paper, we propose PhyDNN, a deep learning model using physics-guided structural priors and physics-guided aggregate supervision for modeling the drag forces acting on each particle in a Computational Fluid Dynamics-Discrete Element Method(CFD-DEM). We conduct extensive experiments in the context of drag force prediction and showcase the usefulness of including physics knowledge in our deep learning formulation both in the design and through learning process. Our proposed PhyDNN model has been compared to several state-of-the-art models and achieves a significant performance improvement of 8.46% on average across all baseline models. The source code has been made available and the dataset used is detailed in [1, 2].
On the Outage Performance of Network NOMA (N-NOMA) Modeled by Poisson Line Cox Point Process
Venue: arXiv cs.IT 2019
Year: 2019

To improve the system throughput, this paper proposes a network non-orthogonal multiple access (N-NOMA) technique for the uplink coordinated multi-point transmission (CoMP). In the considered scenario, multiple base stations collaborate with each other to serve a single user, referred to as the CoMP user, which is the same as for conventional CoMP. However, unlike conventional CoMP, each base station in N-NOMA opportunistically serves an extra user, referred to as the NOMA user, while serving the CoMP user at the same bandwidth. The CoMP user is typically located far from the base stations, whereas users close to the base stations are scheduled as NOMA users. Hence, the channel conditions of the two kind of users are very distinctive, which facilitates the implementation of NOMA. Compared to the conventional orthogonal multiple access based CoMP scheme, where multiple base stations serve a single CoMP user only, the proposed N-NOMA scheme can support larger connectivity by serving the extra NOMA users, and improve the spectral efficiency by avoiding the CoMP user solely occupying the spectrum. A stochastic geometry approach is applied to model the considered N-NOMA scenario as a Poisson cluster process, based on which closed-form analytical expressions for outage probabilities and ergodic rates are obtained. Numerical results are presented to show the accuracy of the analytical results and also demonstrate the superior performance of the proposed N-NOMA scheme.
ASP-Core-2 Input Language Format
Venue: arXiv cs.AI 2019
Year: 2019

Standardization of solver input languages has been a main driver for the growth of several areas within knowledge representation and reasoning, fostering the exploitation in actual applications. In this document we present the ASP-Core-2 standard input language for Answer Set Programming, which has been adopted in ASP Competition events since 2013.
Fair Meta-Learning: Learning How to Learn Fairly
Venue: arXiv cs.LG 2019
Year: 2019

Data sets for fairness relevant tasks can lack examples or be biased according to a specific label in a sensitive attribute. We demonstrate the usefulness of weight based meta-learning approaches in such situations. For models that can be trained through gradient descent, we demonstrate that there are some parameter configurations that allow models to be optimized from a few number of gradient steps and with minimal data which are both fair and accurate. To learn such weight sets, we adapt the popular MAML algorithm to Fair-MAML by the inclusion of a fairness regularization term. In practice, Fair-MAML allows practitioners to train fair machine learning models from only a few examples when data from related tasks is available. We empirically exhibit the value of this technique by comparing to relevant baselines.
Attending to Entities for Better Text Understanding
Venue: arXiv cs.CL 2019
Year: 2019

Recent progress in NLP witnessed the development of large-scale pre-trained language models (GPT, BERT, XLNet, etc.) based on Transformer (Vaswani et al. 2017), and in a range of end tasks, such models have achieved state-of-the-art results, approaching human performance. This demonstrates the power of the stacked self-attention architecture when paired with a sufficient number of layers and a large amount of pre-training data. However, on tasks that require complex and long-distance reasoning where surface-level cues are not enough, there is still a large gap between the pre-trained models and human performance. Strubell et al. (2018) recently showed that it is possible to inject knowledge of syntactic structure into a model through supervised self-attention. We conjecture that a similar injection of semantic knowledge, in particular, coreference information, into an existing model would improve performance on such complex problems. On the LAMBADA (Paperno et al. 2016) task, we show that a model trained from scratch with coreference as auxiliary supervision for self-attention outperforms the largest GPT-2 model, setting the new state-of-the-art, while only containing a tiny fraction of parameters compared to GPT-2. We also conduct a thorough analysis of different variants of model architectures and supervision configurations, suggesting future directions on applying similar techniques to other problems.
Privacy is What We Care About: Experimental Investigation of Federated Learning on Edge Devices
Venue: arXiv cs.LG 2019
Year: 2019

Federated Learning enables training of a general model through edge devices without sending raw data to the cloud. Hence, this approach is attractive for digital health applications, where data is sourced through edge devices and users care about privacy. Here, we report on the feasibility to train deep neural networks on the Raspberry Pi4s as edge devices. A CNN, a LSTM and a MLP were successfully trained on the MNIST data-set. Further, federated learning is demonstrated experimentally on IID and non-IID samples in a parametric study, to benchmark the model convergence. The weight updates from the workers are shared with the cloud to train the general model through federated learning. With the CNN and the non-IID samples a test-accuracy of up to 85% could be achieved within a training time of 2 minutes, while exchanging less than $10$ MB data per device. In addition, we discuss federated learning from an use-case standpoint, elaborating on privacy risks and labeling requirements for the application of emotion detection from sound. Based on the experimental findings, we discuss possible research directions to improve model and system performance. Finally, we provide best practices for a practitioner, considering the implementation of federated learning.
Identifying Hidden Buyers in Darknet Markets via Dirichlet Hawkes Process
Venue: arXiv cs.LG 2019
Year: 2019

The darknet markets are notorious black markets in cyberspace, which involve selling or brokering drugs, weapons, stolen credit cards, and other illicit goods. To combat illicit transactions in the cyberspace, it is important to analyze the behaviors of participants in darknet markets. Currently, many studies focus on studying the behavior of vendors. However, there is no much work on analyzing buyers. The key challenge is that the buyers are anonymized in darknet markets. For most of the darknet markets, We only observe the first and last digits of a buyer's ID, such as ``a**b''. To tackle this challenge, we propose a hidden buyer identification model, called UNMIX, which can group the transactions from one hidden buyer into one cluster given a transaction sequence from an anonymized ID. UNMIX is able to model the temporal dynamics information as well as the product, comment, and vendor information associated with each transaction. As a result, the transactions with similar patterns in terms of time and content group together as the subsequence from one hidden buyer. Experiments on the data collected from three real-world darknet markets demonstrate the effectiveness of our approach measured by various clustering metrics. Case studies on real transaction sequences explicitly show that our approach can group transactions with similar patterns into the same clusters.
Connecting First and Second Order Recurrent Networks with Deterministic Finite Automata
Venue: arXiv cs.LG 2019
Year: 2019

We propose an approach that connects recurrent networks with different orders of hidden interaction with regular grammars of different levels of complexity. We argue that the correspondence between recurrent networks and formal computational models gives understanding to the analysis of the complicated behaviors of recurrent networks. We introduce an entropy value that categorizes all regular grammars into three classes with different levels of complexity, and show that several existing recurrent networks match grammars from either all or partial classes. As such, the differences between regular grammars reveal the different properties of these models. We also provide a unification of all investigated recurrent networks. Our evaluation shows that the unified recurrent network has improved performance in learning grammars, and demonstrates comparable performance on a real-world dataset with more complicated models.
How to Evaluate Word Representations of Informal Domain?
Venue: arXiv cs.CL 2019
Year: 2019

Diverse word representations have surged in most state-of-the-art natural language processing (NLP) applications. Nevertheless, how to efficiently evaluate such word embeddings in the informal domain such as Twitter or forums, remains an ongoing challenge due to the lack of sufficient evaluation dataset. We derived a large list of variant spelling pairs from UrbanDictionary with the automatic approaches of weakly-supervised pattern-based bootstrapping and self-training linear-chain conditional random field (CRF). With these extracted relation pairs we promote the odds of eliding the text normalization procedure of traditional NLP pipelines and directly adopting representations of non-standard words in the informal domain. Our code is available.
SMILES Transformer: Pre-trained Molecular Fingerprint for Low Data Drug Discovery
Venue: arXiv cs.LG 2019
Year: 2019

In drug-discovery-related tasks such as virtual screening, machine learning is emerging as a promising way to predict molecular properties. Conventionally, molecular fingerprints (numerical representations of molecules) are calculated through rule-based algorithms that map molecules to a sparse discrete space. However, these algorithms perform poorly for shallow prediction models or small datasets. To address this issue, we present SMILES Transformer. Inspired by Transformer and pre-trained language models from natural language processing, SMILES Transformer learns molecular fingerprints through unsupervised pre-training of the sequence-to-sequence language model using a huge corpus of SMILES, a text representation system for molecules. We performed benchmarks on 10 datasets against existing fingerprints and graph-based methods and demonstrated the superiority of the proposed algorithms in small-data settings where pre-training facilitated good generalization. Moreover, we define a novel metric to concurrently measure model accuracy and data efficiency.
Emerging Natural User Interfaces in Mobile Computing: A Bottoms-Up Survey
Venue: arXiv cs.HC 2019
Year: 2019

Mobile and wearable interfaces and interaction paradigms are highly constrained by the available screen real estate, and the computational and power resources. Although there exist many ways of displaying information to mobile users, inputting data to a mobile device is, usually, limited to a conventional touch based interaction, that distracts users from their ongoing activities. Furthermore, emerging applications, like augmented, mixed and virtual reality (AR/MR/VR), require new types of input methods in order to interact with complex virtual worlds, challenging the traditional techniques of Human-Computer Interaction (HCI). Leveraging of Natural User Interfaces (NUIs), as a paradigm of using natural intuitive actions to interact with computing systems, is one of many ways to meet these challenges in mobile computing and its modern applications. Brain-Machine Interfaces that enable thought-only hands-free interaction, Myoelectric input methods that track body gestures and gaze-tracking input interfaces - are the examples of NUIs applicable to mobile and wearable interactions. The wide adoption of wearable devices and the penetration of mobile technologies, alongside with the growing market of AR/MR/VR, motivates the exploration and implementation of new interaction paradigms. The concurrent development of bio-signal acquisition techniques and accompanying ecosystems offers a useful toolbox to address open challenges. In this survey, we present state-of-the-art bio-signal acquisition methods, summarize and evaluate recent developments in the area of NUIs and outline potential application in mobile scenarios. The survey will provide a bottoms-up overview starting from (i) underlying biological aspects and signal acquisition techniques, (ii) portable NUI hardware solutions, (iii) NUI-enabled applications, as well as (iv) research challenges and open problems.
MSDF: A Deep Reinforcement Learning Framework for Service Function Chain Migration
Venue: arXiv cs.NI 2019
Year: 2019

Under dynamic traffic, service function chain (SFC) migration is considered as an effective way to improve resource utilization. However, the lack of future network information leads to non-optimal solutions, which motivates us to study reinforcement learning based SFC migration from a long-term perspective. In this paper, we formulate the SFC migration problem as a minimization problem with the objective of total network operation cost under constraints of users' quality of service. We firstly design a deep Q-network based algorithm to solve single SFC migration problem, which can adjust migration strategy online without knowing future information. Further, a novel multi-agent cooperative framework, called MSDF, is proposed to address the challenge of considering multiple SFC migration on the basis of single SFC migration. MSDF reduces the complexity thus accelerates the convergence speed, especially in large scale networks. Experimental results demonstrate that MSDF outperforms typical heuristic algorithms under various scenarios.
Extending Causal Models from Machines into Humans
Venue: arXiv cs.AI 2019
Year: 2019

Causal Models are increasingly suggested as a means to reason about the behavior of cyber-physical systems in socio-technical contexts. They allow us to analyze courses of events and reason about possible alternatives. Until now, however, such reasoning is confined to the technical domain and limited to single systems or at most groups of systems. The humans that are an integral part of any such socio-technical system are usually ignored or dealt with by "expert judgment". We show how a technical causal model can be extended with models of human behavior to cover the complexity and interplay between humans and technical systems. This integrated socio-technical causal model can then be used to reason not only about actions and decisions taken by the machine, but also about those taken by humans interacting with the system. In this paper we demonstrate the feasibility of merging causal models about machines with causal models about humans and illustrate the usefulness of this approach with a highly automated vehicle example.